Aerial manipulationExpert
AFD-CAMLs: Agile Force-Distribution-Aware Planning and Control for Cable-Suspended Aerial Multi-Lifting Systems
This preprint presents AFD-CAMLs, a hybrid planning and control framework for cable-suspended payload transport with four or more UAVs. It combines null-space force-allocation planning, force-aware NMPC, and an admittance filter that uses onboard tension estimates to balance cable loads. In agile real-robot flights, it improved 3D payload tracking error from 0.179 m to 0.153 m and reduced aggregate tension-tracking RMSE from 3.51 N to 2.09 N versus the baseline, without sacrificing agility.